Navigation Device, Route Guidance Method, and Program

ABSTRACT

Disclosed is technology for providing guidance in a manner that facilitates travel along a guidance route when there is a road which has a carpool lane. A navigation device ( 100 ) is provided with: a current-location calculation means for calculating the current location of a moving body; a recommended route search means for searching for a recommended route to a destination; a guidance-point setting means for setting a guidance point in the recommended route; and a guidance information notification means for notifying predetermined guidance information when a moving body reaches a set guidance point. When predetermined conditions are fulfilled, the guidance-point setting means sets in a road which has a carpool lane a guidance point for notifying information for guidance from said road to a branch road, before the guidance point that would be set in a road that does not have a carpool lane.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.13/518,591 which is a National Stage application of PCT InternationalApplication PCT/JP2010/073622, filed Dec. 27, 2010, which claimspriority under 35 U.S.C. §119 to Japanese Patent Application Nos.2009-298076 and 2009-298075, filed Dec. 28, 2009, the disclosures ofwhich are expressly incorporated by reference herein.

TECHNICAL FIELD

The present invention relates to a navigation device, a route guidancemethod, and a program.

BACKGROUND ART

In recent years, carpooling is recommended, aimed at relieving trafficcongestion. In addition, it is put into practice that a special lane isprovided on a road, exclusively permitting a travel of a vehicle inwhich a specific number of passengers are riding. This type of lane isreferred to as a carpool lane, HOV (High-Occupancy Vehicles) lane, orthe like.

A conventional navigation device executes a predetermined routeguidance, when a moving object is approaching an entry point or an exitpoint of the carpool lane (e.g., see Patent Document 1).

PRIOR ART DOCUMENT Patent Document

-   Patent Document 1: Japanese Unexamined Patent Application    Publication No. 2001-183159

DISCLOSURE OF THE INVENTION Problem to be Solved by the Invention

In the meantime, it is sometimes required to change lanes on a guidedroute (also referred to as a “recommended route”) to enter a branchroad, immediately after leaving the carpool lane. On this occasion, asituation that the lane change is not easily performed makes itdifficult to travel along the guided route. By way of example, the casewhere a highway exit and a carpool lane exit are located too close maycause abrupt steering (or failing to change lanes in time), when headedfor the highway exit from the carpool lane exit after traveling thecarpool lane.

In addition, it is sometimes required to change lanes on a guided routeto enter the carpool lane, immediately after merging with traffic on theroad where the carpool lane is provided. Also on this occasion, thesituation that the lane change is not easily performed makes itdifficult to travel along the guided route. By way of example, the casewhere a highway entrance and a carpool lane entrance are located tooclose may cause abrupt steering (or failing to change lanes in time),when headed for the carpool lane entrance immediately after entering thehighway.

It is sometimes required to use the carpool lane on a guided route onlyfor a short period (a short distance). On this occasion, it is necessaryto change lanes over and over, within a short distance section, alongwith entering the carpool lane and leaving from the carpool lane. Sincea driving operation with such repeated lane change in the short distancesection as described above is not easily performed, traveling along theguided route becomes difficult.

An object of the present invention is to provide a technique to performguidance which facilitates traveling along the guided route, even in thecase where there is a road having the carpool lane.

Means to Solve the Problem

In order to solve the problem above, a navigation device relating to afirst embodiment of the present invention is provided with; arecommended route search unit configured to searching for a recommendedroute to a destination, a guidance point setting unit configured tosetting a guidance point on the recommended route, and a guidanceinformation announcing unit configured to announcing predeterminedguidance information, when a moving object reaches the guidance pointbeing set, wherein, in the case where a predetermined condition issatisfied on a road provided with a carpool lane, the guidance pointsetting means sets the guidance point for announcing the guidanceinformation from the road to a branch road, at a position before theguidance point that is supposed to be set on a road not provided withthe carpool lane.

In addition, the navigation device relating to the first embodiment ofthe present invention is provided with; a current location calculationunit configured to calculating a current position of a moving object, arecommended route search unit configured to searching for a recommendedroute to a destination, a guidance point setting unit configured tosetting a guidance point on the recommended route, and a guidanceinformation announcing unit configured to announcing predeterminedguidance information when a moving object reaches the guidance pointbeing set, wherein, in the case where a predetermined condition issatisfied on a road provided with a carpool lane, the guidance pointsetting means sets the guidance point for announcing the guidanceinformation for guidance to the carpool lane, at a position before theguidance point that is supposed to be set on a road not provided withthe carpool lane.

In addition, the navigation device relating to a second embodiment ofthe present invention is provided with; a current location calculationunit configured to calculating a current position of a moving object, arecommended route search unit configured to searching for a recommendedroute to a destination, a guidance point setting unit configured tosetting a guidance point on the recommended route, and a guidanceinformation announcing unit configured to announcing predeterminedguidance information when a moving object reaches the guidance pointbeing set, wherein, the guidance point setting means configures asetting, when a distance from a merging point to a branching point onthe road where the carpool lane is provided is shorter than apredetermined distance, in such a manner that guidance information isnot announced at the guidance point being set for announcing theguidance information to guide to the carpool lane.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic block diagram showing a navigation device relatingto a first embodiment;

FIG. 2 illustrates a schematic data structure of map data relating tothe first embodiment;

FIG. 3 is a functional block diagram of an arithmetic processing unitrelating to the first embodiment;

FIG. 4 illustrates a schematic data structure of guidance pointinformation relating to the first embodiment;

FIG. 5 is a flow chart showing a guidance point change process relatingto the first embodiment;

FIG. 6 is a schematic diagram showing an expressway (in the vicinity ofan expressway exit) where a carpool lane is provided;

FIG. 7 is a schematic diagram showing an expressway (in the vicinity ofan expressway entrance) where the carpool lane is provided;

FIG. 8 is a schematic block diagram showing the navigation devicerelating to a second embodiment;

FIG. 9 illustrates the schematic data structure of map data relating tothe second embodiment;

FIG. 10 is a functional block diagram of the arithmetic processing unitrelating to the second embodiment;

FIG. 11 illustrates a schematic data structure of guidance pointinformation relating to the second embodiment;

FIG. 12 is a flow chart showing the guidance point change processrelating to the second embodiment; and

FIG. 13 is a schematic diagram showing an expressway (in the vicinity ofthe expressway exit and entrance) where the carpool lane is provided.

PREFERRED EMBODIMENTS FOR CARRYING OUT THE INVENTION First Embodiment

Hereinafter, one example of the first embodiment of the presentinvention will be explained, with reference to the accompanyingdrawings.

FIG. 1 is a schematic block diagram showing a navigation device 100relating to the first embodiment of the present invention. Asillustrated, the navigation device 100 is provided with an arithmeticprocessing unit 1, a display 2, a storage unit 3, an audio input andoutput unit 4 (a microphone 41 and a speaker 42), an input unit 5 (atouch panel 51 and a dial switch 52), a vehicle speed sensor 6, a gyrosensor 7, a GPS receiver 8, an FM multiplex broadcasting receiver 9, anda beacon receiver 10. The navigation device 100 may be a car navigationdevice mounted on a vehicle, or a portable terminal such as a mobilephone and a PDA.

The arithmetic processing unit 1 is a main unit for performing variousprocessing. By way of example, the arithmetic processing unit 1 includesa CPU (Central Processing Unit) 21 for executing various processing suchas numerical processing and a control of each device, RAM (Random AccessMemory) 22 for storing map data and operation data being read from thestorage unit 3, ROM (Read Only Memory) 23 for storing programs and data,an I/F (interface) 24 for establishing connection between the arithmeticprocessing unit 1 and various hardware. Then, the arithmetic processingunit 1 has a configuration that one device is connected to anothermutually via a bus 25. Functional parts (101 to 106) described below areimplemented by executing programs which the CPU 21 reads into a memorysuch as the RAM 22.

By way of example, the arithmetic processing unit 1 calculates a currentposition based on information outputted from various sensors (6, 7) andfrom the GPS receiver 8. On the basis of the current position beingobtained, the arithmetic processing unit 1 reads out from the storageunit 3, map data necessary to create a display. Furthermore, thearithmetic processing unit 1 graphically expands the map data being readout, and displays the data on the display 2 in such a manner assuperimposing thereon a current position mark (or a moving object markrepresenting a position of the moving object). The arithmetic processingunit 1 uses the map data stored in the storage unit 3 to retrieve anoptimum route (hereinafter, referred to as a “recommended route”)connecting a departure place (or the current position calculated in thearithmetic processing unit 1) with a destination, which are designatedby the user. It further uses the speaker 42 of the audio input andoutput unit 4 and the display 2 to guide the user.

The display 2 is a unit for displaying the graphics informationgenerated by the arithmetic processing unit 1. The display 2 is made upof a liquid crystal display or an organic EL (Electro-Luminescence)display.

The storage unit 3 is made up of a storage medium such as a CD-ROM, aDVD-ROM, an HDD, and an IC card. This storage medium stores map data310, audio data, video data, and the like, for instance.

FIG. 2 illustrates a schematic data structure of the map data 310. Asillustrated, the map data 310 includes link data 320 with respect toeach identification code (mesh ID) 311 indicating a mesh being a regionpartitioned on the map, the link data representing each linkconstituting a road included in the mesh region.

The link data 320 includes with respect to each link identification code(link ID) 321, coordinate information 322 of two nodes (a start node andan end node) constituting the link, a road type 323 indicating typeinformation of the road including the link, link length information 324indicating a length of the link, a link travel time 325, identificationcodes of links respectively connecting to the two nodes (connection linkIDs) 326, a carpool lane flag 327 indicating whether or not the roadincluding the link is a carpool lane (or a road along which the carpoollane is provided), the number of lanes 328 indicating how many lanes areprovided on the road including the link, and the like. It is to be notedhere that there is a distinction between the start node and the end nodebeing the two nodes constituting a link, thereby allowing up-line anddown-line of the road to be managed as links different from each other.

Here, referring to FIG. 1 again, the audio input and output unit 4 isprovided with the microphone 41 as an audio input unit, and the speaker42 as an audio output unit. The microphone 41 captures voice, or thelike, outputted from a driver and other passengers. The speaker 42outputs an audio signal generated by the arithmetic processing unit 1.The microphone 41 and the speaker 42 are separately mounted onpredetermined portions of the vehicle.

The input unit 5 is a unit for accepting a directive from the user. Theinput unit 5 is made up of the touch panel 51, the dial switch 52, andother hard switches (not illustrated) such as a scroll key and a scalingkey. The input unit 5 further includes a remote controller which iscapable of remotely providing an operation instruction to the navigationdevice 100. The remote controller is provided with a dial switch, ascroll key, a scaling key, and the like, allowing information obtainedby operating each of the keys and switches to be transmitted to thenavigation device 100.

The touch panel 51 is an operation panel being a transparent type, to beattached on a display surface of the display 2. The touch panel 51 isused to specify a touch position in association with XY coordinates ofthe image displayed on the display 2, convert the touch position tocoordinates, and output the coordinates. The touch panel 51 is made upof pressure-sensitive type or electrostatic type input detectingelements, or the like.

The dial switch 52 is constructed in rotatable manner, both in theclockwise direction and in the anti-clockwise direction, issues a pulsesignal according to a rotation by a predetermined angle, and outputs thepulse signal to the arithmetic processing unit 1. The arithmeticprocessing unit 1 obtains a rotation angle of the dial switch 52 basedon the number of the pulse signals.

The vehicle speed sensor 5, the gyro sensor 7, and the GPS receiver 8are used to detect a current position (location of one's own vehicle)and the like, of a moving object (the navigation device 100). Thevehicle speed sensor 6 is a sensor for outputting vehicle speed datathat is used to calculate a vehicle speed. The gyro sensor 7 is made upof an optical fiber gyroscope, a vibrating gyroscope, or the like, todetect an angular rate according to rotation of the moving object. TheGPS receiver 8 receives a signal from a GPS satellite, measures adistance between the moving object and the GPS satellite and a rate ofchange of the distance, with respect to at least three satellites,thereby obtaining the current position and a traveling speed of themoving object.

The FM multiplex broadcasting receiver 9 receives an FM multiplexbroadcasting signal that is transmitted from an FM multiplexbroadcasting station. The FM multiplex broadcasting information includesbrief current traffic information according to the VICS (VehicleInformation Communication System: registered trademark), information onrestrictions, SA/PA (service area/parking area) information, parking lotinformation, and the like, and character information and the like, suchas weather information, provided by a radio station as FM multiplexgeneral information.

The beacon receiver 10 receives traffic congestion information,information on restrictions, SA/PA information, parking lot information,and the like, transmitted from beacons.

FIG. 3 is a functional block diagram of the arithmetic processing unit1. As illustrated, the arithmetic processing unit 1 includes a maincontroller 101, an input accepting part 102, a display processor 103, aroute searching part 104, a guidance point information setting part 105,and a route guidance part 106.

The main controller 101 performs processing for overall control of eachof the parts in the arithmetic processing unit 1. The main controller101 manages various setting information provided in the navigationdevice 100. By way of example, the main controller 101 accepts from theuser, via the input accepting part 102, information to be set as thevarious setting information, and stores the information at apredetermined position in the storage unit 3. It is to be noted that themain controller 101 accepts as the various setting information,information relating to usage of the carpool lane (e.g., a true or falseresult regarding positive usage of the carpool lane), and stores theresult in the storage unit 3. Upon accepting a request to provide thevarious setting information from other unit, the main controller 101transfers the various setting information to the unit which sent therequest.

The input accepting part 102 accepts a request from the user, inputtedin the input unit 5, analyzes descriptions of the request, and notifiesthe main controller 101 of the data responding to the result of theanalysis. For example, the input accepting part 102 accepts a requestfor power-on or power-off of the navigation device 100, and notifies themain controller 101 of the request. The input accepting part 102 furtheraccepts input data regarding settings of various functions (e.g.,setting of a departure place and a destination) held by the navigationdevice 100, and notifies the main controller 101 of the input data.

The display processor 103 displays on the display 2, a map, arecommended route being retrieved, various messages given to the user,and the like. Specifically, the display processor 103 generates adrawing command to make a display on the display 2 and it is notified.It is to be noted that, upon displaying the map on the display 2, thedisplay processor 103 extracts from the storage unit 3, the map data ofthe area requested to be displayed (for example, an area necessary fordisplaying the entire recommended route), generates a map command in adesignated drawing format, so as to depict roads, other map structuralobjects, the current position, the destination, the recommended route,and the like, and notifies the main controller 101 of the map command.The display processor 103 further generates a command to display avehicle mark indicating the position of the vehicle, various settingscreens, or the like, on the map being displayed on the display 2, andnotifies the main controller 101 of the command.

The route searching part 104 performs a process for searching for arecommended route. Then, the route searching part 104 retrieves a routewhich minimizes cost of the route (e.g., total distance and total traveltime) connecting designated two points (the departure place and thedestination), by using Dijkstra's Algorithm or the like. On thisoccasion, the route searching part 104 stores in the memory such as theRAM 22, an identification code (link ID) 321 of each link thatconstitutes the recommended route being retrieved, establishingassociations between the link IDs and the links respectively.

The guidance point information setting part 105 configures a setting asto a point (hereinafter referred to as “guidance point”) for outputtingguidance information to guide the moving object (vehicle). Specifically,the guidance point information setting part 105 generates guidance pointinformation 400 regarding the guidance point, after retrieving the routeand prior to guiding along the route, and stores the guidance pointinformation in the memory such as the RAM 22. It is to be noted thatsetting of the guidance point performed for the first time afterretrieving the route will be referred to as “initial setting” in thefollowing.

FIG. 4 illustrates a schematic data structure of the guidance pointinformation 400. As illustrated, the guidance point information 400 ismade up of a record 415 with respect to each guidance point 413. Eachrecord 415 stores a guidance sequence 411, a link ID 412, a guidancepoint 413, and guidance information 414, in such a manner asestablishing association among those items.

Here, the guidance sequence 411 is data indicating the sequence foroutputting the guidance information 414 on the recommended route, fromthe departure place or the current position to the destination on therecommended route. The link ID 412 is an identification code of the linkon which the guidance point 413 is located. The guidance point 413represents coordinate data which specifies a position of the guidancepoint. The guidance information 414 includes audio data or image data,and it is data used for outputting a message such as “You will be soonarriving at the expressway exit”. There is further stored for theguidance information 414, as attribute information, character data suchas “entrance” and “exit”, being associated data.

The guidance point information setting part 105 changes the guidancepoint 413 being a target for the change, in the situation where thechange of lanes is not easy on the road where the carpool lane isprovided. Specific processing regarding the change of the guidance point413 (guidance point change process) will be explained later.

The route guidance part 106 performs the route guiding using therecommended route retrieved by the route searching part 104. By way ofexample, the route guidance part 106 displays (highlights) therecommended route included in the range of the map shown on the display2 via the display processor 103. On this occasion, the route guidancepart 106 displays on the recommended route, a moving object mark (carmark) indicating the current position of the moving object (vehicle).

The route guidance part 106 outputs (displays, or outputs using sounds)predetermined guidance information, every time when the moving objectreaches the guidance point being set. Specifically, when the currentposition coincides (or approximately coincides) with the guidance point413 stored in the guidance point information 400, the route guidancepart 106 outputs the guidance information 414 which is associated withthe guidance point 413. Accordingly, the route guidance part 106 isallowed to show on the display 2 and inform the user using sounds viathe speaker 42 of the audio input and output device 4, whether the usershould go straight, or turn to the left or to the right, before (e.g.,300 meters before) passing a point requiring the guidance (e.g., a majorintersection, a point for entering the carpool lane, a branching pointof an expressway, or the like).

Next, an explanation will be made as to a characteristic operation ofthe navigation device 100 having the configuration as described above.

<Guidance Point Change Process>

FIG. 5 is a flow chart showing the guidance point change processperformed by the navigation device 100.

The guidance point information setting part 105 of the arithmeticprocessing unit 1 starts the guidance point change process at the timingwhen the route guiding part 106 starts the route guidance, for instance.

Firstly, the route guidance part 106 determines whether or not there isa setting to use the carpool lane in the navigation device 100 (stepS100). Specifically, the route guidance part 106 acquires from the maincontroller 101, information about how to use the carpool lane (e.g.,information of a true or false result being set regarding the usage ofthe carpool lane), out of various setting information provided in thenavigation device 100. Then, if the acquired information includesinformation indicating the carpool lane is to be used (true), the routeguidance part 106 determines that there is a setting that the carpoollane is used. On the other hand, if the acquired information includesinformation indicating the carpool lane is not used (false), the routeguidance part 106 determines that there is a setting the carpool lane isnot used.

Upon determining that there is a setting that the carpool lane is used(step S100; Yes), the route guidance part 106 shifts the process to thestep S101. On the other hand, if the route guidance part 106 determinesthat there is a setting that the carpool lane is not used (step S100;No), the process shifts to the step S107, and normal route guidance isperformed (under the condition that the carpool lane is not used).

When the process shifts to the step S101, the route guidance part 106calculates the current position of the moving object (vehicle) (stepS101). By way of example, the route guidance part 106 uses vehicle speeddata outputted from the vehicle speed sensor 6, an angular rate detectedby the gyro sensor 7, and the like, so as to calculate the currentposition of the moving object. The route guidance part 106 further usesdata outputted from the GPS receiver 8 to modify the current position.

Then, the guidance point information setting part 105 acquires theguidance point information (record 415) of the guidance point whichexists within a predetermined distance from the current position and notacquired yet (step S102). By way of example, the guidance pointinformation setting part 105 refers to the guidance point information400, and specifies a record 415 having the guidance point 413 within apredetermined distance (e.g., 3 km) from the current position that iscalculated in the step S101. Then, the guidance point settinginformation setting part 105 reads the record 415 not acquired yet (notread out into the memory such as the RAM 22), out of the records 415being specified. It is to be noted that the guidance point informationsetting part 105 reads the record 415 according to the sequenceindicated by the guidance sequence 411.

Next, the guidance point information setting part 105 determines thecurrent situation, whether or not the change of lanes is not easy on theroad where the carpool lane is provided (step S103).

FIG. 6 is a schematic diagram showing an expressway (in the vicinity ofan expressway exit) where the carpool lane is provided. In theillustrated example, one carpool lane is provided in such a manner asparallel with two lanes (normal lanes) on the expressway. Here, thecarpool lane and the normal lanes are separated by a separating band.Therefore, the vehicle traveling along the carpool lane is allowed toleave the carpool lane, only from a particular zone. By way of example,the zone which permits the vehicle to leave the carpool lane for thenormal lane is provided for each expressway exit, at multiple points(leaving permit zone A and leaving permit zone B).

Here, in the situation where the change of lanes on the normal lanes iseasy, it is possible to leave the carpool lane from the leaving permitzone A which is close to the expressway exit, and enter the branch roaddirected to the expressway exit. However, in the situation where thechange of lanes on the normal lanes is not easy, there is a possibilityof failing to enter the branch road directed to the expressway exit, ifthe moving object leaves the carpool lane from the leaving permit zone Awhich is close to the expressway exit.

The guidance point 413 being determined in the initial setting is set atthe position a predetermined distance (e.g., 300 m) before a point whichrequires guidance (e.g., an intersection), irrespective of whether ornot the road is provided with the carpool lane. Therefore, if theguidance information 414 is outputted at the guidance point 413 which isdetermined according to the initial setting, the moving object isallowed to leave the carpool lane from the leaving permit zone A only,and eventually, it may fail to enter the branch road ahead.

Therefore, the guidance point information setting part 105 according tothe present embodiment shifts the process to the step S104 and changesthe guidance point P set in the initial setting to a point on the nearerside (guidance point P′ which is obtained after the change), in thesituation where the change of lanes on the road having the carpool laneis not easy. On the other hand, in the situation where the change oflanes on the road having the carpool lane is easy, the guidance point Pis not changed, and the process shifts to the step S105.

Hereinafter, a specific process in the step S103 will be explained.

The guidance point information setting part 105 determines that thesituation indicates the lane change is not easy, when a predeterminedcondition is satisfied. On the other hand, if the predeterminedcondition is not satisfied, it is determined that the situationindicates that the lane change is easy.

Here, the predetermined condition is assumed to be any one of thefollowings; “the first condition”, “the second condition”, and “thethird condition”. It is to be noted the predetermined condition may be acombination of each of the conditions (the first condition, the secondcondition, and the third condition). By way of example, two or moreconditions out of “the first condition”, “the second condition”, and“the third condition” may be assumed as the predetermined condition.

<First Condition>

Distance X from the first leaving permit zone (first leaving point) A tothe branching point as shown in FIG. 6 is shorter than a predetermineddistance (e.g., 500 m).

<Second Condition>

The number of lanes on the expressway (normal lanes) is equal to or morethan a predetermined number (e.g., 3 lanes).

<Third Condition>

Traffic on the expressway (normal lanes) is congested.

In other words, the guidance point information setting part 105 refersto the carpool lane flag 327 of the link data 320 to specify a carpoollane link, and by using this link, calculates the distance X from thefirst leaving permit zone (first leaving point) A to the branchingpoint. Then, if the first condition is satisfied, it is determined thatthe predetermined condition is satisfied.

In addition, the guidance point information setting part 105 refers tothe carpool lane flag 327 and the number of lanes 328 of the link data320, and specifies the number of lanes on the road (expressway) which isprovided with the carpool lane. Then, if the second condition issatisfied, it is determined that the predetermined condition issatisfied.

In addition, the guidance point information setting part 105 uses the FMmultiplex broadcasting receiver 9 and the beacon receiver 10 to acquiretraffic congestion information (including restriction information)within an area (e.g., an area including from the departure place to thedestination) which is a target for the route search. With this, theguidance point information setting part 105 refers to the carpool laneflag 327 of the link data 320, and specifies a carpool lane link. Then,the guidance point information setting part 105 uses the trafficcongestion information being acquired and the link being specified todetermine whether or not traffic on the road (expressway) provided withthe carpool lane is congested. In the case where the third condition issatisfied, it is determined that the predetermined condition issatisfied.

When the process shifts to the step S104, the guidance point informationsetting part 105 changes the guidance point P being set in the initialsetting (step S104). By way of example, the guidance point informationsetting part 105 searches the guidance point information (records 415)acquired in the step S102, for the guidance information 414 includingcharacter data “exit” as attribute information. Then, the guidance pointinformation setting part 105 specifies the guidance point 413 associatedwith the guidance information 414 being retrieved, as a guidance pointtargeted for the change. Then, the guidance point information settingpart 105 changes the specified guidance point 413 targeted for thechange to a point before the point being set in the initial setting(i.e., the position being back by a predetermined distance, facing tothe destination of the guided route).

After the guidance point 413 is changed, the guidance point informationsetting part 105 shifts the process to the step S105.

When the process shifts to the step S105, the route guidance part 106determines whether or not the moving object (vehicle) has reached theguidance point (step S105). By way of example, the route guidance part106 compares the current position calculated in the step S101 with thealready-set guidance point (the guidance point 413 stored in theguidance point information 400). Then, if the current position coincideswith (approximately coincides with) the guidance point, it is determinedthat the moving object has reached the guidance point. On the otherhand, if the current position does not coincide with the guidance point,it is determined that the moving object has not reached the guidancepoint yet.

If it is determined that the moving object has not reached the guidancepoint (step S105; No), the route guidance part 106 returns theprocessing to the step S101. On the other hand, when it is determinedthat the moving object has reached the guidance point, the routeguidance part 106 shifts the process to the step S106 (step S105; Yes).

When the process shifts to the step S106, the route guidance part 106announces the user the guidance information regarding the guidance pointwhich the moving object has reached (step S106). Specifically, the routeguidance part 106 reads the guidance information 414 being associatedwith the guidance point 413 which the moving object has reached, andshows the information on the display 2 together with an audio outputfrom the speaker 42.

Then, route guidance part 106 returns the process to the step 101.Subsequently, the arithmetic processing unit 1 repeatedly executes theflow described above, until the route guidance is completed.

The arithmetic processing unit 1 executes the processing above, therebyallowing the navigation device 100 according to the present embodimentto change the guidance point P set in the initial setting to a pointbefore P (guidance point P′ after the change), as shown in FIG. 6. Inaddition, at the guidance point P′ after the change, it is possible toperform guidance such as the message “You will be soon arriving at theexpressway exit”. As a result, the moving object (vehicle) is allowed toleave the carpool lane from the second leaving permit zone (the secondleaving point) B well in advance, and enter the branch road ahead.

It is to be noted that the present invention is not limited to theaforementioned first embodiment, but various modifications andapplications are available.

By way of example, in the first embodiment described above, anexplanation has been made as to the processing to change the guidancepoint in the vicinity of the expressway exit. However, the presentinvention is not limited to this example. It is also possible to changethe guidance point in the vicinity of the expressway entrance.

FIG. 7 is a schematic diagram showing an expressway (in the vicinity ofan expressway entrance) where the carpool lane is provided. In theexample as illustrated, similar to the first embodiment, one carpoollane is provided in such a manner as parallel with two lanes (normallanes) on the expressway. Here, the carpool lane and the normal lanesare separated by a separating band. Therefore, the vehicle is allowed toenter the carpool lane, only from a particular zone. By way of example,a zone which permits the vehicle to enter the carpool lane from thenormal lane is provided at least one, for each expressway entrance(entering permit zone C).

Here, in the situation where the lane change on the normal lanes iseasy, it is possible to merge with the traffic on the normal lane(expressway) and thereafter guidance is performed to the carpool lane,so as to enter the carpool lane. However, in the situation where thelane change on the normal lanes is not easy, there is a possibility offailing to enter the carpool lane, if guidance to the carpool lane isperformed after merging with the traffic on the normal lane(expressway).

In addition, as described above, the guidance point 413 configured inthe initial setting is set at the position a predetermined distance(e.g., 300 m) before a point (an intersection, or the like) which needsguidance, irrespective of whether or not the road is provided with thecarpool lane. Therefore, when the guidance information 414 is outputtedat the guidance point 413 configured in the initial setting, there is apossibility that guidance to enter the carpool lane is performed aftermerging with the traffic on the normal lane.

Considering this situation, the guidance point information setting part105 performs the processing of the steps S103 and S104 according to thefirst embodiment as the following.

(Step S103)

If a predetermined condition is satisfied, the guidance pointinformation setting part 105 determines that the situation indicates thelane change is not easy. On the other hand, if the predeterminedcondition is not satisfied, it is determined that the situationindicates the lane change is easy.

Here, the predetermined condition is assumed as any one of the followingconditions, “the fourth condition”, “the fifth condition”, and “thesixth condition”. It is to be noted that the predetermined condition maybe a combination of each of the conditions (the fourth condition, thefifth condition, and the sixth condition). By way of example, it maycorrespond to two or more of “the fourth condition”, “the fifthcondition”, and “the sixth condition”.

<Fourth Condition>

Distance Y from the merging point with the expressway (normal lane) tothe entering permit zone (entering point) C shown in FIG. 7 is shorterthan a predetermined distance (e.g., 500 m).

<Fifth Condition>

The number of lanes on the expressway (normal lane) is equal to or morethan a predetermined number (e.g., 3 lanes).

<Sixth Condition>

Traffic on the expressway (normal lane) is congested.

In other word, the guidance point information setting part 105 refers tothe carpool lane flag 327 of the link data 320 to specify a carpool lanelink, and uses this link to calculate the distance Y from the mergingpoint with the expressway (normal lane) to the entering permit zone(entering point) C. Then, if the fourth condition is satisfied, it isdetermined that the predetermined condition is satisfied.

In addition, the guidance point information setting part 105 similarlyrefers to the carpool lane flag 327 and the number of lanes 328 of thelink data 320, and specifies the number of lanes on the road(expressway) where the carpool lane is provided. Then, if the fifthcondition is satisfied, it is determined that the predeterminedcondition is satisfied.

In addition, the guidance point information setting part 105 utilizesthe FM multiplex broadcasting receiver 9 and the beacon receiver 10, orthe like, to acquire traffic congestion information (includingrestriction information, and the like) of an area (e.g., the areaincluding from the departure place to the destination) which is a targetfor the route search. With this processing above, the guidance pointinformation setting part 105 refers to the carpool lane flag 327 of thelink data 320 and specifies a carpool lane link. Then, by using thetraffic congestion information being acquired and the link beingspecified, the guidance point information setting part 105 determineswhether or not traffic on the road (expressway) provided with thecarpool lane is congested. When the sixth condition is satisfied, it isdetermined that the predetermined condition is satisfied.

(Step S104)

If the situation indicates that the lane change is not easy, theguidance point information setting part 105 changes the guidance point Pconfigured in the initial setting, to a point on the nearer side (theguidance point P′ after the change).

Specifically, the guidance point information setting part 105 searchesthe guidance point information (records 415) acquired in the step S102,for the guidance information 414 having character data indicating“entrance” as the attribute information. The guidance point informationsetting part specifies the guidance point 413 associated with theretrieved guidance information 414, as a guidance point targeted for thechange. Here, the guidance point information setting part 105 changesthe specified guidance point 413 targeted for the change to a pointbefore the point set in the initial setting (i.e., the point being backby a predetermined distance, facing to the destination of the guidedroute).

The guidance point information setting part 105 executes the processingabove (steps S103 and S104), thereby allowing the navigation device 100according to the first embodiment to change the guidance point Pconfigured in the initial setting, to the point before the point P (theguidance point P′ after the change). Then, at the guidance point P′after the change, it is possible to perform guidance, for example, “Youwill soon arrive the carpool lane entrance”. As a result, the movingobject (vehicle) is allowed to enter the carpool lane from the enteringpermit zone (the entering point) C in good time.

In addition, the first embodiment described above has been explained,assuming an expressway as the road where the carpool lane is provided.However, the present invention is not limited to this example. By way ofexample, the road where the carpool lane is provided may be a normalroad.

Further in the first embodiment above, the branching point is assumed asa point directing to an exit of the expressway (normal lane) (anexpressway exit). However, the present invention is not limited to thisexample. By way of example, the branching point may be a junction, anintersection, or the like.

Similarly, the merging point according to the first embodiment may be ajunction, an intersection, or the like.

Further in the first embodiment above, the carpool lane and the normallane are separated by the separating band. However, the presentinvention is not limited to this example. By way of example, the carpoollane and the normal lane may be separated by a traffic lane line.

Further the navigation device 100 according to the first embodimentabove may be provided with a camera 11 (the dotted line in FIG. 1) forimaging a road surface.

On this occasion, the camera 11 takes an image of the road surface wherethe moving object is traveling. By way of example, the camera 11 takesan image of a mark (e.g., a lozenge-shaped mark) indicating that thelane is the carpool lane.

The guidance point information setting part 105 determines whether ornot the moving object is traveling on the carpool lane, according to theroad surface image obtained by the camera 11. Then, when it isdetermined that the moving object is traveling on the carpool lane, theguidance point information setting part 105 performs the processing ofthe step S103 and S104 described above.

Further in the first embodiment above, the guidance point change processis started at the timing when the route guidance is started. However,the present invention is not limited to this example. By way of example,the guidance point change process may be performed prior to starting theroute guidance. In this case, the process of the step S101 above isskipped. Then, in the step S102, the guidance point information settingpart 105 acquires all the records 415 included in the guidance pointinformation 400. Then, the guidance point information setting part 105specifies a guidance point targeted for the change, prior to startingthe route guidance, and changes the guidance point to the positionbefore the point configured in the initial setting.

Further in the first embodiment above, there are used six conditionsfrom the first to the sixth, as the conditions for determining whetheror not the lane change is easy. However, the present invention is notlimited to this example. By way of example, the lane change may bedetermined as not easy, if the weather is bad. It is to be noted thatwhether the weather is good or bad may be determined according to thecondition whether the wipers are turned on or not.

Second Embodiment

Next, one example of the second embodiment of the present invention willbe explained with reference to the drawings.

FIG. 8 is a schematic block diagram showing the navigation device 1000relating to the second embodiment of the present invention. Asillustrated, the navigation device 1000 is provided with an arithmeticprocessing unit 1001, a display 1002, a storage unit 1003, an audioinput and output unit 1004 (a microphone 1041 and a speaker 1042), aninput unit 1005 (a touch panel 1051 and a dial switch 1052), a vehiclespeed sensor 1006, a gyro sensor 1007, a GPS receiver 1008, an FMmultiplex broadcasting receiver 1009, and beacon receiver 1010. Thenavigation device 1000 may be a car navigation device mounted on avehicle, or a portable terminal such as a mobile phone and a PDA.

The arithmetic processing unit 1001 is a main unit for performingvarious processing. By way of example, the arithmetic processing unit1001 includes a CPU (Central Processing Unit) 1021 for executing variousprocessing such as numerical processing and a control of each device,RAM (Random Access Memory) 1022 for storing map data and operation databeing read from the storage unit 1003, ROM (Read Only Memory) 1023 forstoring programs and data, an I/F (interface) 1024 for establishingconnection between the arithmetic processing unit 1001 and varioushardware. Then, the arithmetic processing unit 1001 has a configurationthat one device is connected to another mutually via a bus 1025.Functional parts (1101 to 1106) described below are implemented byexecuting programs which the CPU 1021 reads into a memory such as theRAM 1022.

By way of example, the arithmetic processing unit 1001 calculates acurrent position based on information outputted from various sensors(1006, 1007) and from the GPS receiver 1008. On the basis of the currentposition being obtained, the arithmetic processing unit 1001 reads outfrom the storage unit 1003, map data necessary to create a display.Furthermore, the arithmetic processing unit 1001 graphically expands themap data being read out, and displays the data on the display 1002 insuch a manner as superimposing thereon a current position mark (or amoving object mark representing a position of the moving object). Thearithmetic processing unit 1001 uses the map data stored in the storageunit 1003 to retrieve an optimum route (hereinafter, referred to as a“recommended route”) connecting a departure place (or the currentposition calculated in the arithmetic processing unit 1001) with adestination, which are designated by the user. It further uses thespeaker 1042 of the audio input and output unit 1004 and the display1002 to guide the user.

The display 1002 is a unit for displaying the graphics informationgenerated by the arithmetic processing unit 1001. The display 1002 ismade up of a liquid crystal display or an organic EL(Electro-Luminescence) display.

The storage unit 1003 is made up of a storage medium such as a CD-ROM, aDVD-ROM, an HDD, and an IC card. This storage medium stores map data1310, audio data, video data, and the like, for instance.

FIG. 9 illustrates a schematic data structure of map data 1310. Asillustrated, the map data 1310 includes link data 1320 with respect toeach identification code (mesh ID) 1311 indicating a mesh being a regionpartitioned on the map, the link data representing each linkconstituting a road included in the mesh region.

The link data 1320 includes with respect to each link identificationcode (link ID) 1321, coordinate information 1322 of two nodes (a startnode and an end node) constituting the link, a road type 1323 indicatingtype information of the road including the link, link length information1324 indicating a length of the link, a link travel time 1325,identification codes of links respectively connecting to the two nodes(connection link ID) 1326, a carpool lane flag 1327 indicating whetheror not the road including the link is a carpool lane (or a road alongwhich the carpool lane is provided), the number of lanes 1328 indicatinghow many lanes are provided on the road including the link, and thelike. It is to be noted here that there is a distinction between thestart node and the end node being the two nodes constituting a link,thereby allowing up-line and down-line of the road to be managed aslinks different from each other.

Here, referring to FIG. 8 again, the audio input and output unit 1004 isprovided with the microphone 1041 as an audio input unit and the speaker1042 as an audio output unit. The microphone 1041 captures audio data,such as voice of a driver and other passengers. The speaker 1042 outputsan audio signal generated by the arithmetic processing unit 1001. Themicrophone 1041 and the speaker 1042 are separately mounted onpredetermined portions of the vehicle.

The input unit 1005 is a unit for accepting a directive from the user.The input unit 1005 is made up of the touch panel 1051, the dial switch1052, and other hard switches (not illustrated) such as a scroll key anda scaling key. The input unit 1005 further includes a remote controllerwhich is capable of remotely providing an operation instruction to thenavigation device 1000. The remote controller is provided with a dialswitch, a scroll key, a scaling key, and the like, allowing informationobtained by operating each of the keys and switches to be transmitted tothe navigation device 1000.

The touch panel 1051 is an operation panel being a transparent type, tobe attached on a display surface of the display 1002. The touch panel1051 is used to specify a touch position in association with XYcoordinates of the image displayed on the display 1002, convert thetouch position to coordinates, and output the coordinates. The touchpanel 1051 is made up of pressure-sensitive type or electrostatic typeinput detecting elements, or the like.

The dial switch 1052 is constructed in rotatable manner, both in theclockwise direction and in the anti-clockwise direction, issues a pulsesignal according to a rotation by a predetermined angle, and outputs thepulse signal to the arithmetic processing unit 1001. The arithmeticprocessing unit 1001 obtains a rotation angle of the dial switch 1052based on the number of the pulse signals.

The vehicle speed sensor 1005, the gyro sensor 1007, and the GPSreceiver 1008 are used to detect a current position (location of one'sown vehicle) and the like, of a moving object (the navigation device1000). The vehicle speed sensor 1006 is a sensor for outputting vehiclespeed data that is used to calculate a vehicle speed. The gyro sensor1007 is made up of an optical fiber gyroscope, a vibrating gyroscope, orthe like, to detect an angular rate according to a rotation of themoving object. The GPS receiver 1008 receives a signal from a GPSsatellite, measures a distance between the moving object and the GPSsatellite, and a rate of change of the distance, with respect to atleast three satellites, thereby obtaining the current position and atraveling speed of the moving object.

The FM multiplex broadcasting receiver 1009 receives an FM multiplexbroadcasting signal that is transmitted from an FM multiplexbroadcasting station. The FM multiplex broadcasting information includesbrief current traffic information, information on restrictions, SA/PA(service area/parking area) information, parking lot information, andthe like, according to the VICS (Vehicle Information CommunicationSystem: registered trademark), and character information and the like,such as weather information, provided by a radio station as FM multiplexgeneral information.

The beacon receiver 1010 receives traffic congestion information,information on restrictions, SA/PA information, parking lot information,and the like, transmitted from beacons.

FIG. 10 is a functional block diagram of the arithmetic processing unit1001. As illustrated, the arithmetic processing unit 1001 includes amain controller 1101, an input accepting part 1102, a display processor1103, a route searching part 1104, a guidance point information settingpart 1105, and a route guidance part 1106.

The main controller 1101 performs processing for overall control of eachof the parts in the arithmetic processing unit 1001. The main controller1101 manages various setting information provided in the navigationdevice 1000. By way of example, the main controller 1101 accepts fromthe user via the input accepting part 1102, information to be set as thevarious setting information, and stores the information at apredetermined position in the storage unit 1003. It is to be noted thatthe main controller 1101 accepts as the various setting information,information relating to usage of the carpool lane (e.g., a true or falseresult regarding positive usage of the carpool lane), and stores theresult in the storage unit 1003. Upon accepting a request to provide thevarious setting information from other unit, the main controller 1101transfers the various setting information to the unit which sent therequest.

The input accepting part 1102 accepts a request from the user inputtedin the input unit 1005, analyzes descriptions of the request, andnotifies the main controller 1101 of the data responding to the resultof the analysis. For example, the input accepting part 1102 accepts arequest for power-on or power-off of the navigation device 1000, andnotifies the main controller 1101 of the request. The input acceptingpart 1102 further accepts input data regarding settings of variousfunctions (e.g., setting of a departure place and a destination) held bythe navigation device 1000, and notifies the main controller 1101 of theinput data.

The display processor 1103 displays on the display 1002, a map, arecommended route being retrieved, various messages given to the user,and the like. Specifically, the display processor 1103 generates adrawing command to make a display on the display 1002 and it isnotified. It is to be noted that, upon displaying the map on the display1002, the display processor 1103 extracts from the storage unit 1003,the map data of the area requested to be displayed (for example, an areanecessary for displaying the entire recommended route), generates a mapdrawing command in a designated drawing format, so as to depict roads,other map structural objects, the current position, the destination, therecommended route, and the like, and notifies the main controller 1101of the map drawing command. The display processor 1103 further generatesa command to display a vehicle mark indicating the position of thevehicle, and various setting screens, on the map being displayed on thedisplay 1002, and notifies the main controller 1101 of the command.

The route searching part 1104 performs a process for searching for arecommended route. Then, the route searching part 1104 retrieves a routewhich minimizes cost of the route (e.g., total distance and total traveltime) connecting designated two points (the departure place and thedestination), by using Dijkstra's Algorithm or the like. On thisoccasion, the route searching part 1104 stores in the memory such as theRAM 1022, an identification code (link ID) 1321 of each link thatconstitutes the recommended route being retrieved, establishingassociations between the link IDs and the links respectively.

The guidance point information setting part 1105 configures a setting asto a point (hereinafter referred to as “guidance point”) for outputtingguidance information to guide the moving object (vehicle). Specifically,the guidance point information setting part 1105 generates guidancepoint information 1400 regarding the guidance point, after retrieving aroute before guiding along the route, and stores the guidance pointinformation in the memory such as the RAM 1022. It is to be noted thatsetting of the guidance point performed for the first time afterretrieving the route will be referred to as “initial setting” in thefollowing.

FIG. 11 illustrates a schematic data structure of the guidance pointinformation 1400. As illustrated, the guidance point information 1400 ismade up of a record 1415 with respect to each guidance point 1413. Eachrecord 1415 stores a guidance sequence 1411, a link ID 1412, a guidancepoint 1413, and guidance information 1414, in such a manner asestablishing association among those items.

Here, the guidance sequence 1411 is data indicating the sequence foroutputting the guidance information 1414 on the recommended route, fromthe departure place or the current position to the destination on therecommended route. The link ID 1412 is an identification code of thelink where the guidance point 1413 is located. The guidance point 1413is coordinate data which specifies a position of the guidance point. Theguidance information 1414 includes audio data or image data, and it isdata for outputting a message such as “You will be soon arriving at theexpressway exit”. There is further stored in the guidance information1414, as attribute information, character data such as “entrance” and“exit”, in association with the audio data or the image data.

The guidance point information setting part 1105 changes a guidancepoint 1413 being a target for the change, in the situation where thechange of lanes is not easy on the road where the carpool lane isprovided. By way of example, the guidance point information setting part1105 deletes the guidance point configured in the initial setting, tomodify the setting not to output (announce) the guidance information.Specific processing (guidance point change process) regarding the changeof the guidance point 1413 will be explained later.

The route guidance part 1106 performs the route guidance using therecommended route retrieved by the route searching part 1104. By way ofexample, the route guidance part 1106 displays (highlights) therecommended route included in the range of the map shown on the display1002 via the display processor 1103. On this occasion, the routeguidance part 1106 displays on the recommended route, a moving objectmark (car mark) indicating the current position of the moving object(vehicle).

The route guidance part 1106 outputs (displays, or outputs using sounds)predetermined guidance information, every time when the moving objectreaches the guidance point being set. Specifically, when the currentposition coincides (or approximately coincides) with the guidance point1413 stored in the guidance point information 1400, the route guidancepart 1106 outputs the guidance information 1414 which is associated withthe guidance point 1413. Accordingly, the route guidance part 1106 isallowed to show on the display 1102 and inform the user using sounds viathe speaker 1042 of the audio input and output device 1004, whether theuser should go straight, or turn to the left of to the right, before(e.g., 300 meters before) passing a point requiring the guidance (e.g.,a major intersection, a point for entering the carpool lane, a branchingpoint of an expressway, or the like).

Next, an explanation will be made as to a characteristic operation ofthe navigation device 1000 having the configuration as described above.

<Guidance Point Change Process>

FIG. 12 is a flow chart showing the guidance point change processperformed by the navigation device 1000.

The guidance point information setting part 1105 of the arithmeticprocessing unit 1001 starts the guidance point change process at thetiming when the route guiding part 1106 starts the route guidance.

Firstly, the route guidance part 1106 determines whether or not there isa setting to use the carpool lane in the navigation device 1000 (stepS1100). Specifically, the route guidance part 1106 acquires from themain controller 1101, information as to the usage of the carpool lane(e.g., information of a true or false result being set regarding theusage of the carpool lane), out of various setting information providedin the navigation device 1000. Then, if the acquired informationincludes information indicating the carpool lane is used (true), theroute guidance part 1106 determines that there is a setting that thecarpool lane is used. On the other hand, if the acquired informationincludes information indicating the carpool lane is not used (false),the route guidance part 1106 determines that there is a setting that thecarpool lane is not used.

Upon determining that there is a setting that the carpool lane is used(step S1100; Yes), the route guidance part 1106 shifts the process tothe step S1101. On the other hand, if the route guidance part 1106determines that there is a setting that the carpool lane is not used(step S1100; No), the process shifts to the step S1107, and normal routeguidance is performed (for the case where the carpool lane is not used).

When the process shifts to the step S1101, the route guidance part 1106calculates the current position of the moving object (vehicle) (stepS1101). By way of example, the route guidance part 1106 uses the vehiclespeed data outputted from the vehicle speed sensor 1006, an angular ratedetected by the gyro sensor 1007, and the like, so as to calculate thecurrent position of the moving object. The route guidance part 1106further uses data outputted from the GPS receiver 1008 to modify thecurrent position.

Then, the guidance point information setting part 1105 acquires theguidance point information (record 1415) of the guidance point whichexists within a predetermined distance from the current position and notacquired yet (step S1102). By way of example, the guidance pointinformation setting part 1105 refers to the guidance point information1400, and specifies a record 1415 having the guidance point 1413 withina predetermined distance (e.g., 3 km) from the current position that iscalculated in the step S1101. Then, the guidance point settinginformation setting part 1105 reads the record 1415 not acquired yet(not read out into the memory such as the RAM 1022), out of the records1415 being specified. It is to be noted that the guidance pointinformation setting part 1105 reads the record 1415 according to thesequence indicated by the guidance sequence 1411.

Next, the guidance point information setting part 1105 determines thepresent situation, whether or not the change of lanes is not easy on theroad where the carpool lane is provided (step S1103).

FIG. 13 is a schematic diagram showing an expressway (in the vicinity ofexpressway entrance and exit) where the carpool lane is provided. In theillustrated example, one carpool lane is provided in such a manner asparallel with two lanes (normal lanes) on the expressway. Here, thecarpool lane and the normal lanes are separated by a separating band.Therefore, the vehicle traveling along the carpool lane is allowed toenter the carpool lane, only from a particular zone. By way of example,the zone which permits the vehicle to enter the carpool lane from thenormal lane is provided for each expressway entrance, at least one(entering permit zone D).

Here, in the situation where the change of lanes on the normal lanes iseasy, the moving object (driver) is allowed to travel easily along theguided route on the expressway where the carpool lane is provided.However, in the situation where the change of lanes on the normal lanesis not easy, it is sometimes difficult to travel along the guided route.By way of example, traveling along the guided route is difficult in thecase where the carpool lane is used only for a short period (a shortdistance). In such a case, the moving object (driver) may be required tochange the lanes over and over, within a short distance section, uponentering the carpool lane and leaving the carpool lane. In thissituation, it is better to guide the moving object (driver) not to usethe carpool lane, so as to travel along the guided route easily.

However, the guidance point 1413 is set a predetermined distance (e.g.,300 m) before a point (e.g., an intersection) which requires guidance,regardless of the degree of easiness for changing the lanes. Therefore,if the guidance information 1414 is outputted at the guidance point 1413which is set according to the initial setting, the moving object(driver) may not be able to travel along the guided route.

Therefore, the guidance point information setting part 1105 according tothe present embodiment shifts the process to the step S1104 and changesthe setting not to perform guidance (output of guidance information) atthe guidance point Q set in the initial setting, in the situation wherethe change of lanes having the carpool lane is not easy. On the otherhand, in the situation where the change of lanes having the carpool laneis easy, the guidance point information 1400 is not changed, and theprocess shifts to the step S1105 without any change.

Hereinafter, a specific process in the step S1103 will be explained.

The guidance point information setting part 1105 determines that thesituation indicates the lane change is not easy, when a predeterminedcondition is satisfied. On the other hand, if the predeterminedcondition is not satisfied, it is determined that the situationindicates that the lane change is easy.

Here, the predetermined condition is assumed as a situation that, forinstance, the distance Z from the merging point to the branching pointas shown in FIG. 13 is shorter than the first distance (e.g., 1 km).

It is to be noted here that even though the condition above is notsatisfied, if the distance Z from the merging point to the branchingpoint is equal to or more than a first distance and less than a seconddistance (e.g., 2 km), and the number of lanes of the expressway (normallane) is equal to or more than a predetermined number (e.g., 3 lanes),it is possible to determine that the predetermined condition issatisfied.

In addition, even though the condition above is satisfied, if thetraffic on the expressway (normal lanes) is congested, it is notdetermined that the predetermined condition is satisfied.

In other words, in the step 1103, the guidance point information settingpart 1105 refers to the carpool lane flag 1327 of the link data 1320 andspecifies a carpool lane link and by using this link, calculates thedistance Z from the merging point to the branching point.

The guidance point information setting part 1105 refers to the carpoollane flag 1327 and the number of lanes 1328 of the link data 1320, andspecifies the number of lanes on the road (expressway) where the carpoollane is provided.

In addition, the guidance point information setting part 1105 uses theFM multiplex broadcasting receiver 1009 and the beacon receiver 1010 toacquire traffic congestion information (including restrictioninformation) within an area (an area including from the departure placeto the destination) which is a target for the route search. Along withthis processing, the guidance point information setting part refers tothe carpool lane flag 1327 of the link data 1320 to specify a carpoollane link. Then, it uses the traffic congestion information beingacquired and the link being specified to determine whether or not thetraffic on the road (expressway) provided with the carpool lane iscongested.

Then, the guidance point information setting part 1105 uses the distanceZ, the number of lanes, information whether the traffic is congested ornot, to determine in a comprehensive manner, whether or not thepredetermined condition is satisfied.

When the process shifts to the step S1104, the guidance pointinformation setting part 1105 determines that the guidance is notperformed (the guidance information is not outputted) at the guidancepoint Q, being configured in the initial setting (step S1104). By way ofexample, the guidance point information setting part 1105 searches theguidance point information (records 1415) acquired in the step S1102 forthe guidance information 1414 having the character data “entrance” asthe attribute information. Then, the guidance point 1413 associated withthe guidance information 1414 being retrieved is specified as theguidance point being a target for deletion. Here, the guidance pointinformation setting part 1105 deletes the record 1415 including thespecified guidance point 1413 being the target for deletion, from theguidance point information 1400.

After deleting the guidance point 1413 (record 1415), the guidance pointinformation setting part 1105 shifts the process to the step S1105.

When the process shifts to the step S1105, the route guidance part 1106determines whether or not the moving object (vehicle) has reached theguidance point (step S1105). By way of example, the route guidance part1106 compares the current position calculated in the step S1101 with thealready-set guidance point (the guidance point 1413 stored in theguidance point information 1400). Then, if the current positioncoincides with (approximately coincides with) the guidance point, it isdetermined that the moving object has reached the guidance point. On theother hand, if the current position does not coincide with the guidancepoint, it is determined that the moving object has not reached theguidance point yet.

If it is determined that the moving object has not reached the guidancepoint (step S1105; No), the route guidance part 1106 returns theprocessing to the step S1101. On the other hand, when it is determinedthat the moving object has reached the guidance point (step S1105; Yes),the route guidance part 1106 shifts the process to the step S1106.

When the process shifts to the step S1106, the route guidance part 1106announces the user the guidance information regarding the guidance pointthat the moving object has reached (step S1106). Specifically, the routeguidance part 1106 reads the guidance information 1414 being associatedwith the guidance point 1413 which the moving object has reached, andshows the information on the display 1002 together with an audio outputfrom the speaker 1042.

Then, the route guidance part 1106 returns the processing to the stepS1101. The arithmetic processing unit 1001 repeatedly executes this flowuntil the route guidance is completed.

The arithmetic processing unit 1101 performs the processing above,thereby allowing the navigation device 1000 of the present embodimentnot to perform the guidance at the guidance point Q that is configuredby the initial setting, as shown in FIG. 13. Consequently, the movingobject (driver) is able to travel along the guided route safely, even inthe situation that the change of lanes is not easy.

It is to be noted that the present invention is not limited to thesecond embodiment above, and various modifications and applications areavailable.

By way of example, the second embodiment is explained, assuming the roadprovided with the carpool lane as an expressway. However, the presentinvention is not limited to this example. For instance, the roadprovided with the carpool lane may be a normal road.

In the second embodiment, the branching point is assumed as a pointdirecting to an exit from the expressway (normal lane) (an expresswayexit). However, the present invention is not limited to this example. Byway of example, the branching point may be a junction, an intersection,or the like.

Similarly, the merging point of the second embodiment above may be ajunction, an intersection, or the like.

In the second embodiment, the carpool lane and the normal lane areseparated by the separating band. However, the present invention is notlimited to this example. By way of example, the carpool lane isseparated from the normal lane by a traffic lane line.

Further in the second embodiment, the guidance point change process isstarted at the timing when the route guidance is started. However, thepresent invention is not limited to this example. By way of example, theguidance point change process may be performed prior to starting theroute guidance. On this occasion, the process in the step S1101described above may be skipped. Then, in the step S1102, the guidancepoint information setting part 1105 acquires all the records 1415included in the guidance point information 1400. The processing aboveallows the guidance point information setting part 1105 to specify theguidance point as a target for deletion prior to starting the routeguidance, and delete the guidance point.

Further in the second embodiment, following conditions are used fordetermining whether or not the lane change is easy; the distance Z fromthe merging point to the branching point, the number of lanes, and thetraffic is congested or not. However, the present invention is notlimited to this example. By way of example, if the weather is bad, itmay be determined that the lane change is not easy. It is to be notedthat the weather is good or bad may be determined according to thecondition whether the wipers are turned on or not, for instance.

EXPLANATION OF REFERENCES First Embodiment Described Above

1 . . . ARITHMETIC PROCESSING UNIT, 2 . . . DISPLAY, 3 . . . STORAGEUNIT, 4 . . . AUDIO INPUT AND OUTPUT UNIT, 5 . . . INPUT UNIT, 6 . . .VEHICLE SPEED SENSOR, 7 . . . GYRO SENSOR, 8 . . . GPS RECEIVER, 9 . . .FM MULTIPLEX BROADCASTING RECEIVER, 10 . . . BEACON RECEIVER, 21 . . .CPU, 22 . . . RAM, 23 . . . ROM, 24 . . . INTERFACE (I/F), 41 . . .MICROPHONE, 42 . . . SPEAKER, 51 . . . TOUCH PANEL, 52 . . . DIALSWITCH, 100 . . . NAVIGATION DEVICE, 101 . . . MAIN CONTROLLER, 102 . .. INPUT ACCEPTING PART, 103 . . . DISPLAY PROCESSOR, 104 . . . ROUTESEARCHING PART, 105 . . . GUIDANCE POINT INFORMATION SETTING PART, 106 .. . ROUTE GUIDANCE PART, 310 . . . MAP DATA, 311 . . . MESH ID, 320 . .. LINK DATA, 321 . . . LINK ID, 322 . . . START NODE/END NODE, 323 . . .ROAD TYPE, 324 . . . LINK LENGTH, 325 . . . LINK TRAVEL TIME, 326 . . .START CONNECTION LINK/END CONNECTION LINK, 327 . . . CARPOOL LANE FLAG,328 . . . NUMBER OF LANES, 400 . . . GUIDANCE POINT INFORMATION, 411 . .. GUIDANCE SEQUENCE, 412 . . . LINK ID, 413 . . . GUIDANCE POINT, 414 .. . GUIDANCE INFORMATION, 415 . . . RECORD

Second Embodiment Described Above

1000 . . . NAVIGATION DEVICE, 1001 . . . ARITHMETIC PROCESSING UNIT,1002 . . . DISPLAY, 1003 . . . STORAGE UNIT, 1004 . . . AUDIO INPUT ANDOUTPUT UNIT, 1005 . . . INPUT UNIT, 1006 . . . VEHICLE SPEED SENSOR,1007 . . . GYRO SENSOR, 1008 . . . GPS RECEIVER, 1009 . . . FM MULTIPLEXBROADCASTING RECEIVER, 1010 . . . BEACON RECEIVER, 1021 . . . CPU, 1022. . . RAM, 1023 . . . ROM, 1024 . . . INTERFACE (I/F), 1041 . . .MICROPHONE, 1042 . . . SPEAKER, 1051 . . . TOUCH PANEL, 1052 . . . DIALSWITCH, 1101 . . . MAIN CONTROLLER, 1102 . . . INPUT ACCEPTING PART,1103 . . . DISPLAY PROCESSOR, 1104 . . . ROUTE SEARCHING PART, 1105 . .. GUIDANCE POINT INFORMATION SETTING PART, 1106 . . . ROUTE GUIDANCEPART, 1310 . . . MAP DATA, 1311 . . . MESH ID, 1320 . . . LINK DATA,1321 . . . LINK ID, 1322 . . . START NODE/END NODE, 1323 . . . ROADTYPE, 1324 . . . LINK LENGTH, 1325 . . . LINK TRAVEL TIME, 1326 . . .START CONNECTION LINK/END CONNECTION LINK, 1327 . . . CARPOOL LANE FLAG,1328 . . . NUMBER OF LANES, 1400 . . . GUIDANCE POINT INFORMATION, 1411. . . GUIDANCE SEQUENCE, 1412 . . . LINK ID, 1413 . . . GUIDANCE POINT,1414 . . . GUIDANCE INFORMATION, 1415 . . . RECORD

What is claimed:
 1. A navigation device comprising, a current positioncalculation unit configured to calculating a current position of amoving object, a recommended route search unit configured to searchingfor a recommended route to a destination, a guidance point setting unitconfigured to setting a guidance point on the recommended route, and aguidance information announcing unit configured to announcingpredetermined guidance information, when a moving object reaches theguidance point, wherein, in the case where a predetermined condition issatisfied on a road provided with a carpool lane, the guidance pointsetting means sets the guidance point for announcing the guidanceinformation from the road to a branch road, at a position before theguidance point that is supposed to be set on a road not provided withthe carpool lane.
 2. The navigation device according to claim 1,wherein, the guidance point setting means sets the guidance point at theposition before the guidance point that is supposed to be set on a roadnot provided with the carpool lane, in the case where a distance from aleaving point from the carpool lane to a branching point to the branchroad is shorter than a predetermined distance.
 3. The navigation deviceaccording to claim 1, wherein, the guidance point setting meansconfigures a setting in such a manner that the guidance information isnot announced at the guidance point, in the case where the number oflanes on the road provided with the carpool lane is equal to or morethan a predetermined number.
 4. The navigation device according to claim1, further comprising a traffic congestion information acquiring unitconfigured to acquiring traffic congestion information, wherein, theguidance point setting means specifies a section being congested on therecommended route, according to the traffic congestion information, andin the case where traffic is congested on the road provided with thecarpool lane, the guidance point setting means sets the guidance pointat a position before the guidance point that is supposed to be set on aroad not provided with the carpool lane.
 5. The navigation deviceaccording to claim 1, further comprising, an imaging unit configured totaking an image of a road surface of a lane on which a moving object istraveling, and a lane determining unit configured to determining whetheror not the moving object is traveling on the carpool lane, wherein, inthe case where it is determined that the moving object is traveling onthe carpool lane and the guidance point satisfies a predeterminedcondition, the guidance point setting means sets the guidance point atthe position before the guidance point that is supposed to be set on aroad not provided with the carpool lane.
 6. The navigation deviceaccording to claim 1, wherein, the guidance point setting means sets theguidance point at the position before the guidance point that issupposed to be set on a road not provided with the carpool lane, in thecase where a distance from a merging point with the road provided withthe carpool lane to an entering point of the carpool lane is shorterthan a predetermined distance.
 7. A route guidance method in anavigation device, comprising, a current position calculating step ofcalculating a current position of a moving object, a recommended routesearching step of searching for a recommended route to a destination, aguidance point setting step of setting a guidance point on therecommended route, and a guidance information announcing step ofannouncing predetermined guidance information, when a moving objectreaches the guidance point, wherein, in the case where a predeterminedcondition is satisfied on a road provided with a carpool lane, theguidance point setting step sets the guidance point for announcing theguidance information from the road to a branch road, at a positionbefore the guidance point that is supposed to be set on a road notprovided with the carpool lane.
 8. A program for allowing a computer tofunction as a navigation device, further allowing the computer toexecute, a current position calculating step of calculating a currentposition of a moving object, a recommended route searching step ofsearching for a recommended route to a destination, a guidance pointsetting step of setting a guidance point on the recommended route, and aguidance information announcing step of announcing predeterminedguidance information, when a moving object reaches the guidance point,wherein, in the case where a predetermined condition is satisfied on aroad provided with a carpool lane, the guidance point setting step setsthe guidance point for announcing the guidance information from the roadto a branch road, at a position before the guidance point that issupposed to be set on a road not provided with the carpool lane.